期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 2, 页码 723-730出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2020.3047779
关键词
Force; Manipulator dynamics; Dynamics; End effectors; Transient analysis; Task analysis; Tracking; Aerial Systems; Applications; Aerial Systems; Mechanics and Control; Robust; Adaptive Control
类别
资金
- Unmanned Vehicles Core Technology Research, and Development Program through the National Research Foundation of Korea (NRF)
- Unmanned Vehicle Advanced Research Center (UVARC) - Ministry of Science, and ICT, the Republic of Korea [2020M3C1C1A01086411]
- National Research Foundation of Korea [2020M3C1C1A01086411] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
This study addresses the issue of an aerial manipulator pushing a movable structure, presenting a robust control approach based on a nonlinear disturbance-observer. Demonstrations successfully validate the proposed control framework for pushing two types of movable structures.
This letter deals with the problem of an aerial manipulator pushing a movable structure. Contrary to physical interaction with a static structure, suitable consideration of the interacting force during the motion of the structure is required to stably perform this movable structure interaction. To accomplish the task of pushing a structure while ensuring the stability of the aerial manipulator, we present a nonlinear disturbance-observer (DOB)-based robust control approach by regarding the interaction force as a disturbance to the system. Furthermore, to utilize the proposed controller for pushing a movable structure, we propose an algorithm to generate an end-effector position reference that enables safe operation in a realistic situation. We validate the proposed control framework with successful demonstrations on pushing two types of movable structures, a heavy rolling cart (42 [kg]), and a real-like hinged door.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据